As others have advised, Honda officially says "no recreational towing" for all Pilot models since about 2006. You are on your own if you have transmission problems - no warranty will apply.
I have not seen any indication that the transmission has changed since the previous models that were towable, but Honda obviously had reason to change their policy. They felt they could not accept the risk of tow damage.
You may or may not encounter any problem because it is not a black & white situation. The damage is caused by internal heat build-up in the tranny and that has a number of variables. You might be fine for a year or two or three, then suddenly have a breakdown because it got way to hot on one tow.
My [admittedly conservative] advice would be to stop every 2-3 hours and run the engine for a few minutes. This circulates the fluid and cools/lubricates the internal parts. Avoid long runs at high speeds or on very hot days. In fact, avoid high speed towing altogether. Check the tranny fluid after every tow, looking for discoloration or a "toast" smell. Check it a few times before towing so that you know what "normal" looks and smells like. That's not a foolproof test that it is OK, but any change in color or smell is a bad sign.
2004 American Tradition; 2014 Buick LaCRosse
Homebase in the Ocala Nat'l Forest near Ocala, FL